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Gripper of robot and method for controlling the same

A robot arm and robot technology, applied in the direction of robots, manipulators, program-controlled manipulators, etc., can solve the problem that the robot claws are difficult to hold heavy or long objects stably

Active Publication Date: 2014-07-02
HYUNDAI MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, robotic grippers have difficulty holding heavier or longer objects stably

Method used

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  • Gripper of robot and method for controlling the same
  • Gripper of robot and method for controlling the same
  • Gripper of robot and method for controlling the same

Examples

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Embodiment Construction

[0021] A robot gripper and a method of controlling the robot gripper according to embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0022] figure 1 is a view showing the configuration of a robot gripper according to an embodiment of the present disclosure; Figure 2 to Figure 3 is a view illustrating a method of controlling a robot gripper according to an embodiment of the present disclosure; and Figure 4 is a flowchart illustrating a method of controlling a robot gripper according to an embodiment of the present disclosure.

[0023] Such as figure 2 As shown, the robot gripper according to the embodiment of the present disclosure includes: an upper contact part 300 and a lower contact part 400 arranged at the ends 100', 200' of the two robot arms 100, 200 (see figure 1 ). The upper and lower contact portions 300 , 400 come into contact with the top and bottom of the object 10 when grasped. The upper and lower con...

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Abstract

A robot gripper is provided comprising two robot arms, upper contact parts, and lower contact parts disposed at the ends of each of the two robot arms. The upper and lower contact parts are in contact with a top and a bottom of an article when gripping the article, The upper and lower contact parts are semispherical shaped and have predetermined radii. Sensor units are mounted on the upper contact parts and the lower contact parts. The sensor units measure vertical or horizontal forces applied to the upper contact parts or the lower contact parts when gripping the article. A control unit configured to determine whether the center of gravity of the article is located at a center position between the ends of the arms using vertical and horizontal distances between the ends of the arms and vertical components of the forces measured by the sensor units when gripping the article is provided.

Description

[0001] Cross References to Related Applications [0002] This application is based on 35 U.S.C. §119(a) claiming the benefit of priority to Korean Patent Application No. 10-2012-0154474 filed on December 27, 2012, the entire contents of which are incorporated herein by reference. technical field [0003] The present disclosure relates to a robotic gripper and a method of controlling a robotic gripper that can, when manipulating an unknown object whose center of gravity is unknown, by calculating the distance from the center of gravity of the object to be lifted to an arm with a 2-axis sensor mounted on the gripper The distance of the contact point is selected, a new contact point is selected, the object is grasped repeatedly and the vertical and horizontal force components are calculated to determine stability. Background technique [0004] Robotic grippers are used to grasp and move objects. A two-arm robot attempts to grasp and lift an object with the center of gravity o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/18
CPCB25J13/082Y10S901/46Y10S901/31B25J15/0052B25J15/0033B25J9/1674B25J13/08B25J15/00
Inventor 李硕远梁佑诚
Owner HYUNDAI MOTOR CO LTD
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